kuka lbr iiwa TCP modification inside application

    Hello,


    With the help of a vision system, i can get the difference in position of the tool, relative to a master position.


    Using those delta values: deltaX, deltaY and rZ, i want to then adjust the TCP.


    How can i modify a predifined tool inside the application?

    This could be what you need, I haven't tested but seems it should work.

    Code
    // define(or inject) your tool first.
// attach your tool to the flange

ObjectFrame newTCP = tool.addChildFrame( "newTCP", Transformation.ofTranslation( x, y, z ) );
// ...
tool.removeFrame( newTCP );    // if the first line actually creates "newTCP" under your Tool in ObjectTemplates. You might need to delete it on dispose.

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